#ifndef ANDRES_FRAMEWORK_H
#define ANDRES_FRAMEWORK_H

#include "kalman_filter/particle_filter.h" 
#include "defines.h"
#include "camera.h"

class FrameWork
{
public:
    FrameWork();
    virtual ~FrameWork();
    void Init(const GeoPoint& gps_point, const hdmap_frame& hdmap_f, const Camera& camera, DbgFrame* dbg_frame);
    bool initialized() const;
private:
    Filtering::ParticleFilter pf_;
    bool is_init_;
    double sigma_init[3]; 
    double sigma_lane_fixed[3];
    double sigma_sign_pole_fixed[3]; 
    double sigma_no_fix[3];
    double sigma_predict[3]; 
};

#endif